多指抓取力的线性组合计算

Computation of multi-fingered grasping force with linear combination

为提高力优化算法的实时性,提出一种新的计算抓取力初值的方法.首先离线计算一组单位外力对应的抓取力作为线性组合的基础向量,然后将任意外力分解为单位力的线性组合,对基础抓取力按同样规律组合,得到满足约束的抓取力初值.算例仿真分析结果表明,该方法的计算速度比拉格朗日对偶法、单值优化法更快,且减少了力优化算法的收敛步数目.在带摩擦点接触抓取模型中,应用该方法为多指抓取的力优化算法求取初值,有利于提高力优化算法的实时性.

To improve the efficiency of force optimization algorithms,a new method to compute initial grasping force is proposed.A group of grasp forces with respect to external unit forces separately is computed,and an arbitrary external force is decomposed into linear combination of unit forces.The initial force is obtained by linear combination with the same rule.An example indicates that the new method reduces the steps of convergence of force optimization algorithms and is faster than Lagrange dual method and single value optimizing method.The method can be used to provide initial values for the force optimization algorithms in the point contact friction models,and improve efficiency.